How to get map instead of dataset bags with D435i?

[hyclover]

Dear authors:
Thank for your great work! I have run cow_and_lady dataset and got correct result. Now I want to exploit this work to build a real indoor environment map with realsense D435i. As you said, voxblox doesn't have pose estimation utility. So I choose orb_slam2_roshttp://wiki.ros.org/orb_slam2_ros. I am a new learner to ros. I don't know how to work the orb_slam2 and voxblox together. Could you please guide me?
I did some work and I don't know if it was right.
My first question:
From the wiki page, orb_slam2_ros publish these topics:

The following topics are being published and subscribed to by the nodes:

• All nodes publish (given the settings) a PointCloud2 containing all key points of the map.

• Live image from the camera containing the currently found key points and a status text.

• A tf from the pointcloud frame id to the camera frame id (the position).

I run orb_slam2_ros and type info of the topic /orb_slam2_rgbd/pose:

Type: geometry_msgs/PoseStamped

Should the voxblox subscribe this topic? I don't see anything else about the pose.
My second question:
If the voxblox shoud subscribe the above topic, how?
Here is my launch file, maybe I should change the "transform" to other thing. But I have no idea to what to replace it.

I wonder what location library do you use with depth camera+IMU setup?
I just modified the launch file in which use_tf_transforms value=true and world_frame value=map. I got the voxbloxmesh! I encounter another problem: whenever I move the camera, the message update mesh appears. So the mesh is not valid.
I appreciate it if you reply! Thank you! @ZacharyTaylor